Robust Stabilization of a Class of Nonlinear Systems Controlled Over Communication Networks

The article deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a regional input-to-state (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a nonackn...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 66; no. 7; pp. 3036 - 3051
Main Authors Pin, Gilberto, Fenu, Gianfranco, Casagrande, Vittorio, Zorzenon, Davide, Parisini, Thomas
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Clocks
Communication
Communication networks
Controllers
Delays
Feedback control
Networked control systems
Nonlinear control
Nonlinear systems
predictive control
Robust stabilization
Stability analysis
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Summary:The article deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a regional input-to-state (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a nonacknowledged communication policy that allows to deploy the above controller over the network without any modification, while preserving the regional ISS property. The time-varying delays and packet dropouts occurring on both the uplink and the downlink are compensated through a model-based prediction scheme and a packet-management policy based on time-stamping. The consistency of the prediction, which is a major issue in the context of nonlinear systems with an embedded networked controller, is guaranteed through the exploitation of a novel move-blocking strategy for computing the command sequence to be forwarded to the actuators.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.3021039